ObjectGoal navigation has gained popularity in recent years [1]}, [2]}, [3]}. Here, an agent enters a novel and unmapped 3D scene, and is given an object category to navigate to (e.g., a chair). To successfully solve the task, the agent needs to efficiently navigate to the object and stop near it within a given time budget. This is a fundamental problem for embodied agents which requires semantic reasoning about the world (e.g., TV is in the living room, oven is in the kitchen, and chairs are near tables), and it serves as a precursor to more complex object manipulation tasks [4]}, [5]}.
